I. Introduction
We live in a world where robots are widely used. From home cleaning bots to hospitality bots, robots are a great tool to help mankind. The most popular and challenging types of robots are autonomous (mobile) robots, robots that can operate independently of human operators. These robots are usually designed to carry out tasks in environments that are unavailable and dangerous for humans or just to help in our everyday tasks. Cleaning bots and rovers used for exploring Mars are great examples of autonomous robots. Though they are very different in size, endurance, and purpose characteristics, they share one of the most essential autonomous robot characteristic and that is path planning or "capability of, robot to navigate from point A to point B".